Worksite position control system having integrity checking

Abstract

A position control system for use with a mobile machine at a worksite is disclosed. The control system may have a location receiver configured to generate a location signal indicative of an actual location of a base station, a communication device configured to wirelessly communicate with the mobile machine, and a controller in communication with the location receiver and the communication device. The controller may be configured to store an assumed location of the base station in memory, make a comparison of the location signal with the assumed location, and selectively generate a control instruction for the mobile machine based on the comparison.

What is claimed is: 
     
       1. A position control system for use with a mobile machine at a worksite, comprising:
 a location receiver configured to generate a location signal indicative of an actual location of a base station at the worksite; 
 a communication device configured to wirelessly communicate with the mobile machine; and 
 a controller in communication with the location receiver and the communication device, the controller being configured to:
 store a previously known location of the base station in memory; 
 make a comparison of the actual location with the previously known location; and 
 selectively generate a control instruction for the mobile machine based on the comparison, wherein the control instruction causes activation of a warning device when the comparison indicates a difference between the previously known and actual locations greater than a threshold value. 
 
 
     
     
       2. The system of  claim 1 , wherein the threshold value is between about 0.10 m and 0.20 m. 
     
     
       3. The system of  claim 1 , wherein the control instruction includes instructions for adjusting operation of the mobile machine when the comparison indicates the difference between the previously known and actual locations is greater than a second higher threshold value. 
     
     
       4. The system of  claim 3 , wherein the second higher threshold value is about between 4 m and 6 m. 
     
     
       5. The system of  claim 4 , wherein at least one of the threshold value and the second higher threshold value is programmable. 
     
     
       6. The system of  claim 3 , wherein adjusting operation of the mobile machine includes shutting down the mobile machine. 
     
     
       7. The system of  claim 3 , wherein adjusting operation of the mobile machine includes slowing the mobile machine. 
     
     
       8. The system of  claim 3 , wherein adjusting operation of the mobile machine includes maneuvering the mobile machine to a known safe location. 
     
     
       9. The system of  claim 3 , wherein the control instruction is provided to an operator visually and/or audibly. 
     
     
       10. The system of  claim 3 , wherein the control instruction is executed autonomously. 
     
     
       11. The system of  claim 1 , wherein the controller is further configured to simultaneously generate control instructions for multiple mobile machines. 
     
     
       12. The system of  claim 1 , wherein the controller is further configured to generate the control instruction when the location signal is not received by the location receiver within a threshold period of time. 
     
     
       13. The system of  claim 1 , wherein the controller is further configured to generate the control instruction when the comparison indicates a difference between the previously known and actual locations greater than a threshold value. 
     
     
       14. A method of monitoring a position of a base station at a worksite, the method comprising:
 receiving a location signal indicative of an actual location of the base station; 
 making, by a controller, a comparison of the actual location with a previously known location of the base station; and 
 selectively generating, by the controller, a control instruction for a mobile machine at the worksite based on the comparison, wherein the control instruction causes activation of a warning device when the comparison indicates a difference between the previously known and actual locations is greater than a first threshold value. 
 
     
     
       15. The method of  claim 14 , wherein the control instruction includes instructions for adjusting operation of the mobile machine. 
     
     
       16. The method of  claim 15 , wherein the adjusting operation includes one or more of shutting down the mobile machine, slowing down the mobile machine, and instructing the mobile machine to go to a known safe location. 
     
     
       17. The method of  claim 14 , wherein selectively generating includes simultaneously generating control instructions for multiple mobile machines. 
     
     
       18. A non-transitory computer readable medium for use by a position control system, the computer readable medium having executable instructions stored thereon for performing a method of monitoring a position of a base station, the method comprising:
 receiving a location signal indicative of an actual location of the base station; 
 making a comparison of the actual location with a previously known location of the base station; and 
 selectively generating a control instruction for a mobile machine at a 
 worksite based on the comparison, wherein the control instruction causes activation of a warning device when the comparison indicates a difference between the previously known and actual locations is greater than a first threshold value.